Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 12 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 3 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 12 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 52 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -7 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2150 ALTIM_PULSE 5

D_FINISH 0 SM_CC 300 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 17 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 18 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 390 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3851 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2832 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 5 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0016 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -76920.578 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 3 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 432 AH0_24V 91.800003 SEABIRD_T_G 0.0043890956

SPEED_FACTOR 1 PITCH_MAX 3760 AH0_10V 61.200001 SEABIRD_T_H 0.00065287336

RHO 1.023 C_PITCH 2700 PRESSURE_YINT -24.477776 SEABIRD_T_I 2.754709e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 3.0424237e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.354986

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1996267

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0023424325

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.0002635108

HD_B 0.0099684997 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 432 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -24.477776 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 52

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -7

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -76920.578

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 3 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 5 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 T_WATCHDOG 10

C_PITCH 2700 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2150 KALMAN_USE 1 ROLL_MIN 159 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2832 MASS 52000 R_PORT_OVSHOOT 17 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 18 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.354986 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.1996267 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0023424325 VBD_MAX 3851

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.0002635108 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043890956 VBD_MIN 390

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00065287336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.754709e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 12 PHONE_DEVICE 16 SEABIRD_T_J 3.0424237e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 21

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 051807,6135.914,-848.480,40,1.0,40,-9.1 TGT_NAME B2

_CALLS 2 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.094,0.246

_SM_DEPTHo 0.64 KALMAN_X 13052.9,-2613.4,-1404.8,-37549.2,12938.2

_SM_ANGLEo -54.9 KALMAN_Y -6478.2,3453.5,681.4,22614.9,-10217.6

GPS2 052821,6135.861,-848.659,14,1.8,14,-9.1 MHEAD_RNG_PITCHd_Wd 348.3,21813,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.0,1.026918 ALTIM_BOTTOM_PING 800.2,96.4

SM_CCo 14623,1.77,0.113,0,0,1609,300.00 _24V_AH 23.6,5.772

SM_GC 1.37,0.00,0.00,1.77,0.000,0.000,0.113,417,2123,1609,-10.50,-0.76,300.00 _10V_AH 10.0,1.956

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34831,703

TT8_MAMPS 0.029146 CAP_FILE_SIZE 116495,0

HUMID 1698 CFSIZE 254472192,251498496

TCM_TEMP 16.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,0,0

XPDR_PINGS 365 GPS 080608,093408,6137.725,-856.464,30,1.5,30,-9.2

ALTIM_TOP_PING 17.6,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 138 84.20 SBE_CT 483 24 273.82

Roll_motor 136 101 326.03 SBE_O2 518 19 232.40

VBD_pump_during_apogee 385 1522 13857.64 WL_BB2F 382 105 947.99

VBD_pump_during_surface 1 112 4.72 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 183.58 nil 0 0 0.00

Iridium_during_connect 70 160 266.84 nil 0 0 0.00

Iridium_during_xfer 292 223 1537.47

Transponder_ping 98 420 976.33

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.45

TT8 1310 19 259.47

LPSleep 11144 2 244.06

TT8_Active 514 19 101.81

TT8_Sampling 1582 39 629.91

TT8_CF8 693 45 317.80

TT8_Kalman 33 81 27.28

Analog_circuits 1339 12 160.69

GPS_charging 0 0 0.00

Compass 1542 8 123.42

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.44 -146.6 0.0 0.0 0 106 0.00 0.00 -80.50 0.000 2 0.000 0.000 424 2159 3287

110 -1.44 -146.6 3.6 -4.7 4 132 10.18 2.62 -3.35 0.000 4 0.139 0.071 2376 738 3431

386 -1.25 -146.6 60.0 -17.7 16 391 0.25 2.58 0.00 0.000 6 0.097 0.054 2424 2160 3431

708 -1.18 -146.6 108.8 -15.4 32 712 0.00 2.55 0.00 0.000 4 0.000 0.070 2424 3563 3432

808 -1.11 -146.6 125.4 -16.5 36 815 0.15 2.55 0.00 0.000 6 0.103 0.050 2455 2136 3432

1124 -1.11 -146.6 164.2 -10.7 52 1125 0.00 0.00 0.00 0.000 6 0.000 0.000 2455 2119 3433

1433 -1.11 -146.6 198.6 -11.2 67 1437 0.00 2.53 0.00 0.000 4 0.000 0.064 2455 740 3433

1505 -1.11 -146.6 206.2 -9.6 70 1510 0.00 2.55 0.00 0.000 6 0.000 0.055 2455 2150 3433

1821 -1.11 -146.6 237.4 -10.4 85 1825 0.00 2.58 0.00 0.000 4 0.000 0.072 2455 3556 3433

1899 -1.11 -146.6 245.9 -11.0 88 1905 0.00 2.53 0.00 0.000 6 0.000 0.052 2455 2147 3433

2214 -1.11 -146.6 285.9 -14.0 104 2218 0.00 2.55 0.00 0.000 4 0.000 0.067 2455 740 3433

2327 -1.16 -146.6 302.9 -15.1 109 2331 0.00 2.55 0.00 0.000 6 0.000 0.058 2455 2148 3433

2647 -1.16 -146.6 347.2 -13.6 125 2651 0.00 2.60 0.00 0.000 4 0.000 0.074 2455 3564 3433

2725 -1.16 -146.6 357.9 -13.3 128 2731 0.00 2.55 0.00 0.000 6 0.000 0.054 2455 2145 3433

3041 -1.16 -146.6 399.6 -13.3 144 3049 0.00 2.55 0.00 0.000 4 0.000 0.068 2455 740 3433

3122 -1.21 -146.6 410.3 -13.0 147 3126 0.00 2.58 0.00 0.000 6 0.000 0.058 2455 2160 3433

3437 -1.21 -146.6 447.5 -11.2 162 3439 0.00 0.00 0.00 0.000 6 0.000 0.000 2455 2160 3433

3747 -1.25 -146.6 482.3 -11.8 177 3752 0.12 2.58 0.00 0.000 4 0.055 0.074 2421 3560 3433

3810 -1.19 -146.6 491.6 -14.9 180 3814 0.00 2.53 0.00 0.000 6 0.000 0.056 2421 2151 3433

4137 -1.13 -146.6 544.1 -15.6 196 4139 0.15 0.00 0.00 0.000 6 0.102 0.000 2450 2134 3433

4446 -1.13 -146.6 591.4 -14.9 211 4447 0.00 0.00 0.00 0.000 6 0.000 0.000 2451 2134 3433

4755 -1.13 -146.6 635.9 -13.7 226 4756 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2134 3433

5065 -1.13 -146.6 673.5 -9.5 241 5069 0.00 2.65 0.00 0.000 4 0.000 0.079 2450 3559 3432

5138 -1.18 -146.6 680.3 -9.0 244 5142 0.00 2.55 0.00 0.000 6 0.000 0.059 2450 2149 3432

5454 -1.22 -146.6 704.9 -7.2 259 5456 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2132 3432

5763 -1.22 -146.6 724.1 -6.9 274 5767 0.00 2.70 0.00 0.000 4 0.000 0.089 2450 3555 3432

5893 -1.22 -146.6 734.9 -8.6 280 5897 0.00 2.60 0.00 0.000 6 0.000 0.067 2450 2146 3431

6220 -1.27 -146.6 770.7 -12.1 296 6222 0.12 0.00 0.00 0.000 6 0.064 0.000 2418 2130 3430

6529 -1.27 -146.6 813.9 -13.1 311 6530 0.00 0.00 0.00 0.000 6 0.000 0.000 2418 2129 3428

6839 -1.27 -146.6 844.6 -5.9 326 6840 0.00 0.00 0.00 0.000 6 0.000 0.000 2418 2128 3427

7147 -1.27 -146.6 883.5 -12.6 341 7152 0.00 2.78 0.00 0.000 4 0.000 0.101 2418 3555 3424

7290 end dive: NO_VERTICAL_VELOCITY

state 7290 begin apogee

7300 -0.33 0.0 883.4 0.0 347 7430 0.95 0.00 126.12 1.522 6 0.081 0.000 2623 2126 2832

7430 end apogee: CONTROL_FINISHED_OK

state 7430 begin climb

7433 1.44 146.6 882.8 0.0 354 7570 1.83 2.80 125.95 1.468 4 0.075 0.094 3009 752 2234

7692 1.26 146.6 851.1 15.7 366 7697 0.17 2.70 0.00 0.000 6 0.105 0.084 2977 2146 2233

8019 1.33 190.6 823.4 8.0 382 8059 0.00 0.00 38.17 1.420 6 0.000 0.000 2978 2146 2054

8368 1.44 258.3 803.7 6.9 399 8434 0.15 2.83 57.88 1.443 4 0.064 0.097 3016 3550 1779

8446 1.35 258.3 796.4 11.2 402 8452 0.00 2.70 0.00 0.000 6 0.000 0.077 3016 2150 1779

8762 1.30 258.3 754.5 13.8 418 8767 0.17 2.80 0.00 0.000 4 0.107 0.099 2982 3559 1779

8790 1.30 258.3 751.0 11.3 419 8794 0.00 2.67 0.00 0.000 6 0.000 0.077 2982 2151 1779

9106 1.37 275.0 723.3 9.2 434 9128 0.00 2.85 15.57 1.363 4 0.000 0.097 2982 3559 1710

9140 1.47 299.0 720.1 8.9 435 9172 0.17 2.72 21.98 1.370 6 0.062 0.078 3021 2145 1612

9481 1.47 299.0 678.2 14.1 452 9485 0.00 2.80 0.00 0.000 4 0.000 0.097 3021 3563 1611

9491 1.47 299.0 676.7 13.4 452 9497 0.00 2.70 0.00 0.000 6 0.000 0.077 3021 2146 1611

9806 1.47 299.0 634.2 14.0 468 9807 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 2131 1611

10115 1.47 299.0 590.6 13.5 483 10120 0.00 2.72 0.00 0.000 4 0.000 0.087 3021 3559 1611

10125 1.47 299.0 589.0 13.1 483 10131 0.00 2.65 0.00 0.000 6 0.000 0.069 3021 2142 1611

10441 1.47 299.0 548.4 12.7 499 10446 0.00 2.70 0.00 0.000 4 0.000 0.082 3021 3563 1611

10503 1.47 299.0 541.1 11.5 502 10508 0.00 2.60 0.00 0.000 6 0.000 0.061 3022 2147 1611

10829 1.47 299.0 502.8 12.7 518 10830 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 2134 1611

11139 1.47 299.0 463.9 11.9 533 11143 0.00 2.67 0.00 0.000 4 0.000 0.077 3021 3563 1611

11155 1.47 299.0 461.8 12.1 534 11160 0.00 2.58 0.00 0.000 6 0.000 0.058 3021 2149 1611

11482 1.47 299.0 417.1 15.3 550 11483 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 2134 1613

11791 1.47 299.0 366.8 15.8 565 11792 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 2135 1614

12100 1.47 299.0 323.3 13.4 580 12105 0.00 2.65 0.00 0.000 4 0.000 0.071 3021 3565 1615

12122 1.47 299.0 319.9 14.6 581 12127 0.00 2.58 0.00 0.000 6 0.000 0.055 3021 2143 1615

12443 1.47 299.0 272.5 15.0 597 12447 0.00 2.62 0.00 0.000 4 0.000 0.071 3021 3562 1616

12460 1.47 299.0 269.9 14.6 598 12464 0.00 2.55 0.00 0.000 6 0.000 0.054 3021 2150 1616

12786 1.47 299.0 225.6 12.8 614 12790 0.00 2.62 0.00 0.000 4 0.000 0.070 3021 3567 1617

12796 1.47 299.0 224.1 12.7 614 12802 0.00 2.55 0.00 0.000 6 0.000 0.054 3021 2149 1618

13112 1.47 299.0 187.5 11.6 630 13113 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 2149 1618

13421 1.47 299.0 152.6 11.7 645 13425 0.00 2.62 0.00 0.000 4 0.000 0.069 3021 3569 1619

13431 1.47 299.0 151.1 12.1 645 13437 0.00 2.55 0.00 0.000 6 0.000 0.053 3021 2146 1619

13747 1.47 299.0 110.6 12.8 661 13751 0.00 2.55 0.00 0.000 4 0.000 0.067 3021 744 1619

13780 1.47 299.0 105.8 13.9 662 13786 0.00 2.55 0.00 0.000 6 0.000 0.057 3021 2155 1619

14097 1.47 299.0 61.1 14.0 678 14101 0.00 2.55 0.00 0.000 4 0.000 0.067 3021 3559 1620

14114 1.47 299.0 58.4 13.5 679 14119 0.00 2.53 0.00 0.000 6 0.000 0.052 3021 2149 1620

14442 1.47 299.0 17.6 11.9 695 14447 0.00 2.60 0.00 0.000 4 0.000 0.067 3021 3559 1620

14460 1.47 299.0 15.2 11.9 696 14465 0.00 2.53 0.00 0.000 6 0.000 0.052 3021 2149 1621

14578 end climb: SURFACE_DEPTH_REACHED

state 14579 begin surface coast

14601 end surface coast: CONTROL_FINISHED_OK

state 14601 begin surface

ID	5	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	3	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	12	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	52	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-7	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2150	ALTIM_PULSE	5
D_FINISH	0	SM_CC	300	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	17	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	18	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	390	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3851	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2832	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	5	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0016	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-76920.578	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	3	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	432	AH0_24V	91.800003	SEABIRD_T_G	0.0043890956
SPEED_FACTOR	1	PITCH_MAX	3760	AH0_10V	61.200001	SEABIRD_T_H	0.00065287336
RHO	1.023	C_PITCH	2700	PRESSURE_YINT	-24.477776	SEABIRD_T_I	2.754709e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	3.0424237e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.354986
FERRY_MAX	12	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1996267
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0023424325
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.0002635108
HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	051807,6135.914,-848.480,40,1.0,40,-9.1	TGT_NAME	B2
_CALLS	2	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.094,0.246
_SM_DEPTHo	0.64	KALMAN_X	13052.9,-2613.4,-1404.8,-37549.2,12938.2
_SM_ANGLEo	-54.9	KALMAN_Y	-6478.2,3453.5,681.4,22614.9,-10217.6
GPS2	052821,6135.861,-848.659,14,1.8,14,-9.1	MHEAD_RNG_PITCHd_Wd	348.3,21813,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	-0.0,1.026918	ALTIM_BOTTOM_PING	800.2,96.4
SM_CCo	14623,1.77,0.113,0,0,1609,300.00	_24V_AH	23.6,5.772
SM_GC	1.37,0.00,0.00,1.77,0.000,0.000,0.113,417,2123,1609,-10.50,-0.76,300.00	_10V_AH	10.0,1.956
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34831,703
TT8_MAMPS	0.029146	CAP_FILE_SIZE	116495,0
HUMID	1698	CFSIZE	254472192,251498496
TCM_TEMP	16.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
XPDR_PINGS	365	GPS	080608,093408,6137.725,-856.464,30,1.5,30,-9.2
ALTIM_TOP_PING	17.6,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	138	84.20	SBE_CT	483	24	273.82
Roll_motor	136	101	326.03	SBE_O2	518	19	232.40
VBD_pump_during_apogee	385	1522	13857.64	WL_BB2F	382	105	947.99
VBD_pump_during_surface	1	112	4.72	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	183.58	nil	0	0	0.00
Iridium_during_connect	70	160	266.84	nil	0	0	0.00
Iridium_during_xfer	292	223	1537.47
Transponder_ping	98	420	976.33
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.45
TT8	1310	19	259.47
LPSleep	11144	2	244.06
TT8_Active	514	19	101.81
TT8_Sampling	1582	39	629.91
TT8_CF8	693	45	317.80
TT8_Kalman	33	81	27.28
Analog_circuits	1339	12	160.69
GPS_charging	0	0	0.00
Compass	1542	8	123.42
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.44	-146.6	0.0	0.0	0	106	0.00	0.00	-80.50	0.000	2	0.000	0.000	424	2159	3287
110	-1.44	-146.6	3.6	-4.7	4	132	10.18	2.62	-3.35	0.000	4	0.139	0.071	2376	738	3431
386	-1.25	-146.6	60.0	-17.7	16	391	0.25	2.58	0.00	0.000	6	0.097	0.054	2424	2160	3431
708	-1.18	-146.6	108.8	-15.4	32	712	0.00	2.55	0.00	0.000	4	0.000	0.070	2424	3563	3432
808	-1.11	-146.6	125.4	-16.5	36	815	0.15	2.55	0.00	0.000	6	0.103	0.050	2455	2136	3432
1124	-1.11	-146.6	164.2	-10.7	52	1125	0.00	0.00	0.00	0.000	6	0.000	0.000	2455	2119	3433
1433	-1.11	-146.6	198.6	-11.2	67	1437	0.00	2.53	0.00	0.000	4	0.000	0.064	2455	740	3433
1505	-1.11	-146.6	206.2	-9.6	70	1510	0.00	2.55	0.00	0.000	6	0.000	0.055	2455	2150	3433
1821	-1.11	-146.6	237.4	-10.4	85	1825	0.00	2.58	0.00	0.000	4	0.000	0.072	2455	3556	3433
1899	-1.11	-146.6	245.9	-11.0	88	1905	0.00	2.53	0.00	0.000	6	0.000	0.052	2455	2147	3433
2214	-1.11	-146.6	285.9	-14.0	104	2218	0.00	2.55	0.00	0.000	4	0.000	0.067	2455	740	3433
2327	-1.16	-146.6	302.9	-15.1	109	2331	0.00	2.55	0.00	0.000	6	0.000	0.058	2455	2148	3433
2647	-1.16	-146.6	347.2	-13.6	125	2651	0.00	2.60	0.00	0.000	4	0.000	0.074	2455	3564	3433
2725	-1.16	-146.6	357.9	-13.3	128	2731	0.00	2.55	0.00	0.000	6	0.000	0.054	2455	2145	3433
3041	-1.16	-146.6	399.6	-13.3	144	3049	0.00	2.55	0.00	0.000	4	0.000	0.068	2455	740	3433
3122	-1.21	-146.6	410.3	-13.0	147	3126	0.00	2.58	0.00	0.000	6	0.000	0.058	2455	2160	3433
3437	-1.21	-146.6	447.5	-11.2	162	3439	0.00	0.00	0.00	0.000	6	0.000	0.000	2455	2160	3433
3747	-1.25	-146.6	482.3	-11.8	177	3752	0.12	2.58	0.00	0.000	4	0.055	0.074	2421	3560	3433
3810	-1.19	-146.6	491.6	-14.9	180	3814	0.00	2.53	0.00	0.000	6	0.000	0.056	2421	2151	3433
4137	-1.13	-146.6	544.1	-15.6	196	4139	0.15	0.00	0.00	0.000	6	0.102	0.000	2450	2134	3433
4446	-1.13	-146.6	591.4	-14.9	211	4447	0.00	0.00	0.00	0.000	6	0.000	0.000	2451	2134	3433
4755	-1.13	-146.6	635.9	-13.7	226	4756	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2134	3433
5065	-1.13	-146.6	673.5	-9.5	241	5069	0.00	2.65	0.00	0.000	4	0.000	0.079	2450	3559	3432
5138	-1.18	-146.6	680.3	-9.0	244	5142	0.00	2.55	0.00	0.000	6	0.000	0.059	2450	2149	3432
5454	-1.22	-146.6	704.9	-7.2	259	5456	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2132	3432
5763	-1.22	-146.6	724.1	-6.9	274	5767	0.00	2.70	0.00	0.000	4	0.000	0.089	2450	3555	3432
5893	-1.22	-146.6	734.9	-8.6	280	5897	0.00	2.60	0.00	0.000	6	0.000	0.067	2450	2146	3431
6220	-1.27	-146.6	770.7	-12.1	296	6222	0.12	0.00	0.00	0.000	6	0.064	0.000	2418	2130	3430
6529	-1.27	-146.6	813.9	-13.1	311	6530	0.00	0.00	0.00	0.000	6	0.000	0.000	2418	2129	3428
6839	-1.27	-146.6	844.6	-5.9	326	6840	0.00	0.00	0.00	0.000	6	0.000	0.000	2418	2128	3427
7147	-1.27	-146.6	883.5	-12.6	341	7152	0.00	2.78	0.00	0.000	4	0.000	0.101	2418	3555	3424
7290	end dive: NO_VERTICAL_VELOCITY
state	7290	begin apogee
7300	-0.33	0.0	883.4	0.0	347	7430	0.95	0.00	126.12	1.522	6	0.081	0.000	2623	2126	2832
7430	end apogee: CONTROL_FINISHED_OK
state	7430	begin climb
7433	1.44	146.6	882.8	0.0	354	7570	1.83	2.80	125.95	1.468	4	0.075	0.094	3009	752	2234
7692	1.26	146.6	851.1	15.7	366	7697	0.17	2.70	0.00	0.000	6	0.105	0.084	2977	2146	2233
8019	1.33	190.6	823.4	8.0	382	8059	0.00	0.00	38.17	1.420	6	0.000	0.000	2978	2146	2054
8368	1.44	258.3	803.7	6.9	399	8434	0.15	2.83	57.88	1.443	4	0.064	0.097	3016	3550	1779
8446	1.35	258.3	796.4	11.2	402	8452	0.00	2.70	0.00	0.000	6	0.000	0.077	3016	2150	1779
8762	1.30	258.3	754.5	13.8	418	8767	0.17	2.80	0.00	0.000	4	0.107	0.099	2982	3559	1779
8790	1.30	258.3	751.0	11.3	419	8794	0.00	2.67	0.00	0.000	6	0.000	0.077	2982	2151	1779
9106	1.37	275.0	723.3	9.2	434	9128	0.00	2.85	15.57	1.363	4	0.000	0.097	2982	3559	1710
9140	1.47	299.0	720.1	8.9	435	9172	0.17	2.72	21.98	1.370	6	0.062	0.078	3021	2145	1612
9481	1.47	299.0	678.2	14.1	452	9485	0.00	2.80	0.00	0.000	4	0.000	0.097	3021	3563	1611
9491	1.47	299.0	676.7	13.4	452	9497	0.00	2.70	0.00	0.000	6	0.000	0.077	3021	2146	1611
9806	1.47	299.0	634.2	14.0	468	9807	0.00	0.00	0.00	0.000	6	0.000	0.000	3021	2131	1611
10115	1.47	299.0	590.6	13.5	483	10120	0.00	2.72	0.00	0.000	4	0.000	0.087	3021	3559	1611
10125	1.47	299.0	589.0	13.1	483	10131	0.00	2.65	0.00	0.000	6	0.000	0.069	3021	2142	1611
10441	1.47	299.0	548.4	12.7	499	10446	0.00	2.70	0.00	0.000	4	0.000	0.082	3021	3563	1611
10503	1.47	299.0	541.1	11.5	502	10508	0.00	2.60	0.00	0.000	6	0.000	0.061	3022	2147	1611
10829	1.47	299.0	502.8	12.7	518	10830	0.00	0.00	0.00	0.000	6	0.000	0.000	3021	2134	1611
11139	1.47	299.0	463.9	11.9	533	11143	0.00	2.67	0.00	0.000	4	0.000	0.077	3021	3563	1611
11155	1.47	299.0	461.8	12.1	534	11160	0.00	2.58	0.00	0.000	6	0.000	0.058	3021	2149	1611
11482	1.47	299.0	417.1	15.3	550	11483	0.00	0.00	0.00	0.000	6	0.000	0.000	3021	2134	1613
11791	1.47	299.0	366.8	15.8	565	11792	0.00	0.00	0.00	0.000	6	0.000	0.000	3021	2135	1614
12100	1.47	299.0	323.3	13.4	580	12105	0.00	2.65	0.00	0.000	4	0.000	0.071	3021	3565	1615
12122	1.47	299.0	319.9	14.6	581	12127	0.00	2.58	0.00	0.000	6	0.000	0.055	3021	2143	1615
12443	1.47	299.0	272.5	15.0	597	12447	0.00	2.62	0.00	0.000	4	0.000	0.071	3021	3562	1616
12460	1.47	299.0	269.9	14.6	598	12464	0.00	2.55	0.00	0.000	6	0.000	0.054	3021	2150	1616
12786	1.47	299.0	225.6	12.8	614	12790	0.00	2.62	0.00	0.000	4	0.000	0.070	3021	3567	1617
12796	1.47	299.0	224.1	12.7	614	12802	0.00	2.55	0.00	0.000	6	0.000	0.054	3021	2149	1618
13112	1.47	299.0	187.5	11.6	630	13113	0.00	0.00	0.00	0.000	6	0.000	0.000	3021	2149	1618
13421	1.47	299.0	152.6	11.7	645	13425	0.00	2.62	0.00	0.000	4	0.000	0.069	3021	3569	1619
13431	1.47	299.0	151.1	12.1	645	13437	0.00	2.55	0.00	0.000	6	0.000	0.053	3021	2146	1619
13747	1.47	299.0	110.6	12.8	661	13751	0.00	2.55	0.00	0.000	4	0.000	0.067	3021	744	1619
13780	1.47	299.0	105.8	13.9	662	13786	0.00	2.55	0.00	0.000	6	0.000	0.057	3021	2155	1619
14097	1.47	299.0	61.1	14.0	678	14101	0.00	2.55	0.00	0.000	4	0.000	0.067	3021	3559	1620
14114	1.47	299.0	58.4	13.5	679	14119	0.00	2.53	0.00	0.000	6	0.000	0.052	3021	2149	1620
14442	1.47	299.0	17.6	11.9	695	14447	0.00	2.60	0.00	0.000	4	0.000	0.067	3021	3559	1620
14460	1.47	299.0	15.2	11.9	696	14465	0.00	2.53	0.00	0.000	6	0.000	0.052	3021	2149	1621
14578	end climb: SURFACE_DEPTH_REACHED
state	14579	begin surface coast
14601	end surface coast: CONTROL_FINISHED_OK
state	14601	begin surface